leds.cpp

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#include "ros/ros.h"
#include <ros/package.h> 
#include "raspicat/LedValues.h"
#include <fstream>
using namespace ros;

void output(std::ofstream *ofs, bool input)
{
        *ofs << (input ? '1' : '0') << std::endl;
}

void cb(const raspicat::LedValues::ConstPtr& msg)
{
        std::ofstream ofs0("/dev/rtled0");
        output(&ofs0, msg->right_side);
        std::ofstream ofs1("/dev/rtled1");
        output(&ofs1, msg->right_forward);
        std::ofstream ofs2("/dev/rtled2");
        output(&ofs2, msg->left_forward);
        std::ofstream ofs3("/dev/rtled3");
        output(&ofs3, msg->left_side);
}


int main(int argc, char **argv)
{
        init(argc,argv,"leds");
        NodeHandle n;
        Subscriber sub = n.subscribe("leds", 10, cb);

        ros::spin();
        exit(0);
}